//
// Created by bourne on 2024/6/16.
// todo

/** 这个头文件定义的了hgrid类，用来对环境进行层次化网格管理 **/

#ifndef SRC_HGRID_H
#define SRC_HGRID_H

#include <ros/ros.h>
#include <Eigen/Eigen>
#include <memory>
#include <vector>
#include <list>
#include <unordered_map>
#include <utility>

using Eigen::Vector3d;
using std::list;
using std::pair;
using std::shared_ptr;
using std::unique_ptr;
using std::unordered_map;
using std::vector;

class RayCaster;

namespace fast_planner {

class EDTEnvironment;
class Astar;
class GridInfo;
class UniformGrid;

/** Hierarchical grid, contains two levels currently **/
class HGrid {
public:
  // 构造函数，接受EDT环境的智能指针和ROS节点句柄
  HGrid(const shared_ptr<EDTEnvironment>& edt, ros::NodeHandle& nh);
  ~HGrid();

private:


};
}
#endif //SRC_HGRID_H
